A singular perturbation approach to modeling and control of manipulators constrained by a stiff environment

摘要: Mathematical models for robot manipulator dynamics which incorporate the effects of interaction forces between end effector and a stiff environment are presented. With appropriate assumptions, model is transformed into standard singularly perturbed form expressed in terms small parameter inversely proportional to stiffness damping environment. The slow time scale dynamics, corresponding case where rigid, shown be equivalent differential-algebraic equations have been developed previously mechanical systems with holonomic constraints. fast also derived. A feedback structure based on control proposed justified. simple example presented illustrate concepts. >